Dynamics of parallel mechanism with direct compliance control

Author

Rong, Liu ; Guanghua, Zong

Author_Institution

Robotics Res. Inst., Beijing Univ. of Aeronaut. & Astronaut., China

Volume

2

fYear

1997

fDate

12-15 Oct 1997

Firstpage

1753

Abstract

Direct compliance control is an effective force control method for robot, especially for parallel mechanism robot. However, structural complexity of parallel mechanism and redundant actuation of the DCC requires make establishment of a dynamic model for robot control very difficult. In this paper, based on influence coefficient method, the dynamics of a parallel mechanism is deeply studied. The parallel mechanism without DCC is first investigated. Then is mechanism with DCC. The derived dynamic equations for both situations are not only easily established, but also simply expressed with mechanism´s influence coefficient matrices. Therefore the dynamic algorithm can be easily realized on computer

Keywords

compliance control; manipulator dynamics; matrix algebra; redundancy; direct compliance control; dynamic algorithm; force control; influence coefficient matrices; parallel mechanism dynamics; redundant actuation; structural complexity; Aerodynamics; Concurrent computing; Equations; Force control; Heuristic algorithms; Kinematics; Parallel robots; Robot control; Testing; Weight control;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1062-922X

Print_ISBN

0-7803-4053-1

Type

conf

DOI

10.1109/ICSMC.1997.638277

Filename

638277